Scanning window in hardware for low-power object-detection in images

ABSTRACT

An apparatus includes a hardware sensor array including a plurality of pixels arranged along at least a first dimension and a second dimension of the array, each of the pixels capable of generating a sensor reading. A hardware scanning window array includes a plurality of storage elements arranged along at least a first dimension and a second dimension of the hardware scanning window array, each of the storage elements capable of storing a pixel value based on one or more sensor readings. Peripheral circuitry for systematically transfers pixel values, based on sensor readings, into the hardware scanning window array, to cause different windows of pixel values to be stored in the hardware scanning window array at different times. Control logic coupled to the hardware sensor array, the hardware scanning window array, and the peripheral circuitry, provides control signals to the peripheral circuitry to control the transfer of pixel values.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of and claims the benefit ofU.S. patent application Ser. No. 14/866,739, filed Sep. 25, 2015,entitled “SCANNING WINDOW IN HARDWARE FOR LOW-POWER OBJECT-DETECTION INIMAGES” which is incorporated herein by reference, and which claims thebenefit of U.S. Provisional Application No. 62/058,009, filed Sep. 30,2014, entitled “SCANNING WINDOW IN HARDWARE FOR LOW-POWEROBJECT-DETECTION IN IMAGES” which is incorporated herein by reference,and U.S. Provisional Application No. 62/058,010, filed Sep. 30, 2014,entitled “MULTI-BLOCK COMPUTER VISION FEATURE IMPLEMENTATION INHARDWARE”.

BACKGROUND

Aspects of the disclosure relate to computer vision.

Many existing computer vision algorithms are employed in face detectionand other types of imaged based tasks (e.g., the Viola-Jones algorithm).However, many of these algorithms can be resource intensive in terms ofprocessing power, memory usage, and data transfer bandwidth, bymanipulating large amounts of image data in order to perform the desiredcomputer vision algorithm in accordance with processor instructions.

Additionally, many existing computer vision algorithms make use offeatures for classification of objects within an image. Such computervision algorithms may be used, for example, in face detection and othertypes of imaged based tasks. Examples of such feature-based algorithmsinclude local binary patterns (LBP) and Haar-like features. However,feature-based algorithms often need to be performed many times (e.g.,thousands of times) using different locations, sizes, scales,resolutions, rotations, and/or other parameters of data related to theimage. The process can be take a long time and be quite resourceintensive in terms of processing power, memory requirements, datatransfer bandwidth, etc.

Thus, a need exists for computer vision computation techniques that aremore resource efficient and that allow for efficient access to imagedata.

BRIEF SUMMARY

The present disclosure generally relates to enabling computer vision,and more specifically, improving efficiency for detecting features usingcomputer vision.

In some implementations, an apparatus for isolating pixel values inhardware includes a hardware sensor array comprising a plurality ofpixels arranged along at least a first dimension and a second dimensionof the hardware sensor array, each of the pixels capable of generating asensor reading based on environmental conditions. The apparatus alsoincludes a hardware scanning window array comprising a plurality ofstorage elements arranged along at least a first dimension and a seconddimension of the hardware scanning window array, each of the storageelements capable of storing a pixel value based on one or more sensorreadings from the hardware sensor array. The apparatus further includesperipheral circuitry for systematically transferring pixel values, basedon sensor readings from the hardware sensor array, into the hardwarescanning window array, to cause different windows of pixel values to bestored in the hardware scanning window array at different times. Theapparatus additionally includes control logic coupled to the hardwaresensor array, the hardware scanning window array, and the peripheralcircuitry, the control logic operable to provide control signals to theperipheral circuitry to control the transfer of pixel values into thehardware scanning window array.

In some implementations, the hardware sensor array includes configurablecombining circuitry coupled to the plurality of pixels, the configurablecombining circuitry operable to combine, in hardware, multiple sensorreadings from the plurality of pixels to generate the pixel values,according to at least one combining pattern. The configurable combiningcircuitry includes a first plurality of controllable connectionsoperable to connect adjacent pixels along the first dimension of thehardware sensor array, a second plurality of controllable connectionsoperable to connect adjacent pixels along the second dimension of thehardware sensor array, wherein connecting adjacent pixels generatesaveraged pixel values at each of the adjacent pixels being conne.

In some implementations, the sensor reading is a sensor reading, whereinthe sensor reading is an analog sensor reading, wherein the pixel valueis an analog pixel value, and wherein the configurable combiningcircuitry is configurable analog combining circuitry.

In some implementations, the peripheral circuitry includes a line buffercomprising a plurality of storage elements arranged along at least afirst dimension and a second dimension of the line buffer, the firstdimension of the line buffer being smaller than the first dimension ofthe hardware sensor array, the second dimension of the line buffer beingequal to the second dimension of the hardware sensor array. The linebuffer is capable of storing selected rows of pixel values from thehardware sensor array.

In some implementations, the control logic is capable of storing a nextrow of pixel values from the hardware sensor array into the line buffer,by replacing an oldest row of pixel values in the line buffer, therebyintroducing a discontinuity along a row direction in an imagerepresented by the pixel values stored in the line buffer.

In some implementations, the peripheral circuitry further comprises amultiplexer circuit positioned between the line buffer and the hardwarescanning window array, the multiplexer circuit capable of switching rowordering while transferring pixel values from the line buffer to thehardware scanning window array, thereby removing the discontinuity alonga row direction in an image represented by the pixel values stored inthe line buffer.

In some implementations, the peripheral circuitry further comprises amultiplexer circuit positioned between the hardware scanning windowarray and a hardware computer vision feature computation block, themultiplexer circuit capable of switching column ordering whiletransferring pixel values from the hardware scanning window array to thehardware computer vision feature computation block, thereby removing thediscontinuity along a column direction in an image represented by thepixel values stored in the hardware scanning window array.

In some implementations, the control logic is capable of storing a nextcolumn of pixel values from the line buffer into the hardware scanningwindow array, by replacing an oldest column of pixel values in thehardware scanning window array, thereby introducing a discontinuityalong a column direction in an image represented by the pixel valuesstored in the hardware scanning window array.

In some implementations, the peripheral circuitry further comprises ahardware computer vision feature computation block operable to perform,in hardware, computer vision computations based on values stored in thehardware scanning window array.

In some implementations, the apparatus further includes configurablecombining circuitry coupled to the plurality of storage elements of thehardware scanning window, wherein the configurable combining circuitryis capable of performing combining, in hardware, of some multiple pixelvalues to generate a first set of combined pixel values according to afirst combining pattern, while maintaining the multiple pixel values forsubsequent combining of some other multiple pixel values to generate asecond set of combined pixel values according to a second combiningpattern, and wherein the first set of combined pixel values and thesecond set of combined pixel values are used by the hardware computervision feature computation block to compute a multi-block local binarypattern computer vision feature.

In some implementations, the peripheral circuitry further comprises anintegration block capable of computing an integral image based on thesensor readings from the hardware sensor array and storing the computedintegral image in the scanning window array, and wherein combined pixelvalues generated from the integral image stored in the scanning windowarray are used by the hardware computer vision feature computation blockto compute a multi-block local binary pattern computer vision feature.

In some implementations, the configurable combining circuitry comprisesa first plurality of controllable connections operable to connectadjacent circuit elements along the first dimension of the hardwarescanning window array, and a second plurality of controllableconnections operable to connect adjacent pixels along the seconddimension of the hardware scanning window array, wherein connectingadjacent pixels generates averaged pixel values at each of the adjacentpixels being connected.

In some implementations, the different ones of the first and secondcombining patterns allow for selection of the plurality of storageelements at different locations and dimensions within the hardwarescanning window array.

In some implementations, the hardware computer vision featurecomputation block comprises circuitry operable to perform cornerdetection.

In some implementations, a second hardware scanning window array iscoupled to the control logic, the control logic operable to providecontrol signals to control the transfer of pixel values from thehardware scanning window array to the second hardware scanning windowarray based on detection of a corner by the hardware computer visionfeature computation block in an image represented by the pixel valuesstored in the hardware scanning window array, the peripheral circuitryfurther comprising a multiplexer circuit positioned between the hardwarescanning window array and the second hardware scanning window array, themultiplexer circuit capable of switching column ordering whiletransferring the pixel values from the hardware scanning window array tothe second hardware scanning window array, thereby removing adiscontinuity along a column direction in the image.

In some implementations, a second hardware computer vision featurecomputation block operable to perform, in hardware, computer visioncomputations based on values stored in the second hardware scanningwindow array.

In some implementations, at least one pixel of the plurality of pixelscomprises a sensor element and in-pixel circuitry.

In some implementations, the pixel values each based on the one or moresensor readings from the hardware sensor array comprise raw pixel valueseach based on one or more raw sensor readings.

In some implementations, no image signal processing circuitry isdisposed between the hardware sensor array and the hardware scanningwindow array.

In some implementations, a method for isolating pixel values in hardwareincludes generating, via a plurality of pixels within a hardware sensorarray, a sensor reading based on environmental conditions, wherein theplurality of pixels are arranged along at least a first dimension and asecond dimension of the hardware sensor array. The method also includesstoring, within a plurality of storage elements within a hardwarescanning window array, a pixel value based on one or more sensorreadings from the hardware sensor array, wherein the plurality ofstorage elements are arranged along at least a first dimension and asecond dimension of the hardware scanning window array. The methodfurther includes causing, via peripheral circuitry for systematicallytransferring pixel values, different windows of pixel values to bestored, based on sensor readings from the hardware sensor array, in thehardware scanning window array at different times. The methodadditionally includes providing, via control logic coupled to thehardware sensor array, the hardware scanning window array, and theperipheral circuitry, signals to the peripheral circuitry to control thetransfer of pixel values into the hardware scanning window array.

In some implementations, an apparatus for isolating pixel values inhardware includes hardware means for generating a plurality of sensorreadings based on environmental conditions. The apparatus also includeshardware means for storing, within a plurality of storage elementswithin the hardware means for storing, pixel values each based on one ormore sensor readings from the hardware means for generating the sensorreading. The apparatus additionally includes hardware means for causingdifferent windows of pixel values to be stored in the hardware means forstoring pixel values at different times. The apparatus further includeshardware means for providing control signals to the hardware means forcausing different windows of pixel values to be stored to control thetransfer of pixel values into the hardware means for storing pixelvalues.

In some implementations, one or more non-transitory computer-readablemedia store computer-executable instructions for isolating pixel valuesin hardware that, when executed, cause one or more computing devices tocause, via peripheral circuitry for systematically transferring pixelvalues, different windows of pixel values to be stored, based on sensorreadings from a hardware sensor array, in a hardware scanning windowarray at different times, and provide, via control logic coupled to thehardware sensor array, the hardware scanning window array, and theperipheral circuitry, signals to the peripheral circuitry to control thetransfer of pixel values into the hardware scanning window array.

In some implementations, a low-power vision sensor includes an imagesensor array capable of capturing an image, the image sensor arrayhaving a plurality of rows and a plurality of columns. The low-powervision sensor further includes one or more line buffers for transferringimage data from one or more rows of the plurality of rows of the imagesensor array. The low-power vision sensor also includes a hardwarescanning window array for storing data based on a sample window of theimage, the data to be used in a computer vision computation, thehardware scanning window array having a number of columns fewer than anumber of columns of the one or more line buffers. The low-power visionsensor additionally includes computer vision feature computationhardware configured to compute a computer vision feature based on thedata stored in the hardware scanning window array.

In some implementations, the low-power vision sensor also includes aframe buffer for data to be transferred to the hardware scanning windowarray.

In some implementations, the frame buffer is at least one of an imageframe buffer or an integral image frame buffer.

In some implementations, the low-power vision sensor also includesintegration hardware capable of computing an integral image based on theimage data transferred by the one or more line buffers.

In some implementations, the integration hardware comprisestwo-dimension (2-D) integration hardware.

In some implementations, the integration hardware is coupled to theframe buffer.

In some implementations, the low-power vision sensor also includes ananalog-to-digital converter (ADC) coupled to the one or more linebuffers and the integration hardware.

In some implementations, the computer vision feature computationhardware is configured to compute a local binary patterns (LBP) feature.

In some implementations, the LBP feature is a multi-block LBP feature.

In some implementations, the low-power vision sensor further includeshardware cascade classifier configured to detect the presence of areference object within the sample window stored in the hardwarescanning window array based on computer vision features computed by thecomputer vision computation hardware.

In some implementations, no image signal processing circuitry isdisposed between the image sensor array and the hardware scanning windowarray.

In some implementations, a for detecting an object in a low-power visionsensor includes capturing, via an image sensor array, an image, theimage sensor array having a plurality of rows and a plurality ofcolumns. The method also includes transferring, via one or more linebuffers, image data from one or more rows of the plurality of rows ofthe image sensor array. The method further includes storing, via ahardware scanning window array, data based on a sample window of theimage, the data to be used in a computer vision computation, thehardware scanning window array having a number of columns fewer than anumber of columns of the one or more line buffers. The methodadditionally includes computing, via computer vision feature computationhardware, a computer vision feature based on the data stored in thehardware scanning window array.

In some implementations, one or more non-transitory computer-readablemedia storing computer-executable instructions for detecting an objectin a low-power vision sensor that, when executed, cause one or morecomputing devices to capture, via an image sensor array, an image, theimage sensor array having a plurality of rows and a plurality ofcolumns, transfer, via one or more line buffers, image data from one ormore rows of the plurality of rows of the image sensor array, store, viaa hardware scanning window array, data based on a sample window of theimage, the data to be used in a computer vision computation, thehardware scanning window array having a number of columns fewer than anumber of columns of the one or more line buffers, and compute, viacomputer vision feature computation hardware, a computer vision featurebased on the data stored in the hardware scanning window array.

In some implementations, an apparatus for detecting an object in alow-power vision sensor includes hardware means for capturing, via animage sensor array, an image, the image sensor array having a pluralityof rows and a plurality of columns. The apparatus further includeshardware means for transferring, via one or more line buffers, imagedata from one or more rows of the plurality of rows of the image sensorarray. The apparatus additionally includes hardware means for storing,via a hardware scanning window array, data based on a sample window ofthe image, the data to be used in a computer vision computation, thehardware scanning window array having a number of columns fewer than anumber of columns of the one or more line buffers. The apparatus alsoincludes hardware means for computing, via computer vision featurecomputation hardware, a computer vision feature based on the data storedin the hardware scanning window array.

In some implementations, a low-power vision sensor includes an imagesensor array capable of capturing an image, the image sensor arrayhaving a plurality of rows and a plurality of columns. The low-powervision sensor also includes one or more line buffers for transferringimage data from one or more rows of the plurality of rows of the imagesensor array. The low-power vision sensor further includes integrationhardware capable of computing an integral image based on the image datatransferred by the one or more line buffers. The low-power vision sensoralso includes The low-power vision sensor also includes computer visionfeature computation hardware configured to compute a computer visionfeature based on the integral image computed by the two-dimensionintegration hardware.

In some implementations, the low-power vision sensor also includes ahardware scanning window array for storing data based on a sample windowof the image, the data to be used in a computer vision computation, thehardware scanning window array having a number of columns fewer than anumber of columns of the one or more line buffers.

In some implementations, the low-power vision sensor also includes aframe buffer for data to be transferred to the hardware scanning windowarray.

In some implementations, the frame buffer comprises at least one of animage frame buffer or an integral image frame buffer.

In some implementations, the low-power vision sensor also includes ananalog-to-digital converter (ADC) coupled to the one or more linebuffers and the integration hardware.

In some implementations, the computer vision feature is a multi-blocklocal binary pattern (LBP) feature.

In some implementations, the integration hardware comprisestwo-dimension (2-D) integration hardware.

In some implementations, the low-power vision sensor also includes ahardware cascade classifier configured to detect the presence of areference object within the sample window stored in the hardwarescanning window array based on computer vision features computed by thecomputer vision computation hardware.

In some implementations, method for detecting an object in a low-powervision sensor includes capturing, via an image sensor array, an image,the image sensor array having a plurality of rows and a plurality ofcolumns. The method also includes transferring, via one or more linebuffers, image data from one or more rows of the plurality of rows ofthe image sensor array. The method additionally includes computing, viaintegration hardware, an integral image based on the image datatransferred by the one or more line buffers. The method further includescomputing, via computer vision feature computation hardware, a computervision feature based on the integral image computed by the two-dimensionintegration hardware.

In some implementations, an apparatus for detecting an object in alow-power vision sensor includes hardware means for capturing, via animage sensor array, an image, the image sensor array having a pluralityof rows and a plurality of columns. The apparatus also includes hardwaremeans for transferring, via one or more line buffers, image data fromone or more rows of the plurality of rows of the image sensor array. Theapparatus further includes hardware means for computing, via integrationhardware, an integral image based on the image data transferred by theone or more line buffers. The apparatus also includes hardware means forcomputing, via computer vision feature computation hardware, a computervision feature based on the integral image computed by the two-dimensionintegration hardware.

In some implementations, one or more non-transitory computer-readablemedia storing computer-executable instructions detecting an object in alow-power vision sensor that, when executed, cause one or more computingdevices to capture, via an image sensor array, an image, the imagesensor array having a plurality of rows and a plurality of columns,transfer, via one or more line buffers, image data from one or more rowsof the plurality of rows of the image sensor array compute, viaintegration hardware, an integral image based on the image datatransferred by the one or more line buffers, and compute, via computervision feature computation hardware, a computer vision feature based onthe integral image computed by the two-dimension integration hardware.

BRIEF DESCRIPTION OF THE DRAWINGS

Aspects of the disclosure are illustrated by way of example. In theaccompanying figures, like reference numbers indicate similar elements.

FIG. 1 illustrates an example sensor comprising a plurality of sensorelements arranged in a 2-dimensional array, according to someimplementations.

FIG. 2 illustrates an example pixel comprising a sensor element andin-pixel circuitry, according to some implementations.

FIG. 3 illustrates an example sensor element array coupled to peripheralcircuitry, according to some implementations.

FIG. 4 illustrates an example sensor element array coupled to adedicated CV processing module, according to some implementations.

FIG. 5A also shows a pixel array and a scanning window array, accordingto some implementations.

FIG. 5B illustrates an example implementation smart vision sensorincluding a sensor element array, CV computation hardware, and dedicatedmicroprocessor

FIG. 5C illustrates a high-level block diagram for implementing ascanning window in hardware in conjunction with a corner-detector.

FIG. 6 illustrates a hardware implementation for averaging pixel valuesin the pixel array, prior to reading the pixels into the line buffers,according to some implementations.

FIG. 7 illustrates a hardware implementation for the line buffers,according to some implementations.

FIG. 8 illustrates a hardware implementation for correcting horizontaland/or vertical tear of the image in the line buffers, according to someimplementations.

FIG. 9 illustrates a known local binary patterns (LBP) computer visionfeature implementation, according to some implementations.

FIG. 10A illustrates a hardware implementation for a multi-blockcomputer vision feature implementation, according to someimplementations.

FIG. 10B illustrates sample and hold buffers which may be included aspart of the hardware implementation for the multi-block computer visionfeature implementation, according to some implementations.

FIG. 10C illustrates a readout from a scanning window array to acomputer vision computation block, according to some implementations.

FIG. 10D illustrates differences between no tear, a vertical tear, and avertical and horizontal tear in an image stored within the scanningwindow array, according to some implementations.

FIG. 11 illustrates examples of computer vision (CV) features that canbe calculated using the hardware implementation described herein,according to some implementations.

FIG. 12 is a flowchart of a method for isolating pixel values inhardware.

FIG. 13 illustrates an example of a computing system in which one ormore implementations may be implemented.

DETAILED DESCRIPTION

Several illustrative implementations will now be described with respectto the accompanying drawings, which form a part hereof. While particularimplementations, in which one or more aspects of the disclosure may beimplemented, are described below, other implementations may be used andvarious modifications may be made without departing from the scope ofthe disclosure or the spirit of the appended claims.

A sensor may include a sensor element array of a plurality of sensorelements. The sensor element array may be a 2-dimensional array thatincludes sensor elements arranged in two dimensions, such as columns androws, of the sensor element array. Each of the sensor elements may becapable of generating a sensor reading based on environmentalconditions. In certain implementations, the sensor may be a visionsensor and may generate sensor readings based on light incident upon thesensor elements. FIG. 1 illustrates an example sensor 100 comprising aplurality of sensor elements arranged in a 2-dimensional array. In FIG.1, the illustration of the sensor 100 represents 64 (8×8) sensorelements in the sensor element array. In various implementations, theshape of the sensor elements, the number of sensor elements and thespacing between the sensor elements may vastly vary, without departingfrom the scope of the invention. Sensor elements 102 represents examplesensor elements from a grid of 64 sensor elements.

In certain implementations, the sensor elements may have dedicated CVcomputation hardware implemented as in-pixel circuitry (computationstructure) coupled to the sensor element. In some implementations, thesensor element and the in-pixel circuitry together may be referred to asa pixel. The processing performed by the in-pixel circuitry coupled tothe sensor element may be referred to as in-pixel processing. In someinstances, the sensor element array may be referred to as the pixelarray, the difference being that the pixel array includes both thesensor elements and the in-pixel circuitry associated with each sensorelement. However, for the purposes of the description herein, the termssensor element and pixel may be used interchangeably. FIG. 2 illustratesan example pixel 200 with a sensor element 202 and in-pixel circuitry204. In certain implementations, the in-pixel circuitry 204 may becircuitry, digital circuitry or any combination thereof.

In certain implementations, the sensor element array may have dedicatedCV computation hardware implemented as peripheral circuitry (computationstructure) coupled to a group of sensor elements. Such peripheralcircuitry may be referred to as on-chip sensor circuitry. FIG. 3illustrates an example peripheral circuitry (304 and 306) coupled to thesensor element array 302.

Furthermore, as shown in FIG. 4, in certain implementations, the sensorelement array may have dedicated CV computation hardware implemented asdedicated CV processing module 404 coupled to the sensor element array402 and implemented using an Application Specific Integrated Circuit(ASIC), Field Programmable Gate Array (FPGA), embedded microprocessor,or any similar analog or digital computing logic for performing aspectsof the disclosure.

It should be noted, that at least in certain implementations, thededicated CV processing module 404 may be in addition to an ApplicationProcessor 406 and not instead of the Application Processor 406. Forexample, the dedicated CV processing module 404 may process and/ordetect computer vision features. Whereas the Application Processor 406may receive indications of these detected computer vision features andpattern match against previously stored images or reference indicatorsto determine macro-features, such as smiles, faces, objects, etc. Inaddition, the Application Processor 406 may be relatively vastly morecomplex, compute intensive, power intensive and responsible forexecuting system level operations, such as operating system, implementthe user interface for interacting with the user, perform powermanagement for the device, manage memory and other resources, etc. TheApplication Processor 406 may be similar to processor(s) 1310 of FIG.13.

Scanning Window in Hardware

FIG. 5A illustrates a high-level block diagram for implementing ascanning window in hardware. The high-level block diagram includes afirst row driver 510, a second row driver 520, line buffers 525, acolumn driver 530, a first multiplexer (MUX) 540, and a scanning windowarray (SWA) 515. Optionally, the scanning window array 515 can beconnected to a second multiplexer (MUX) 550, a computer vision featurecomputation block (LBP) 560, a look-up table (LUT) 570, and a logic,memory, and microprocessor block 580.

FIG. 5A also shows a pixel array 505 and a scanning window array (SWA)515. The use of a scanning window, software-based algorithm is known inthe art. However, as mentioned above, those solutions drain processorpower as the processor often analyzes each point of the image. Theimplementation shown in FIG. 5A illustrates a hardware based scanningwindow function. In some implementations, the hardware scanning windowarray 515 is a dedicated hardware scanning window array in the sensethat it is configured to store sample windows based on image data fromthe pixel array 505, as described throughout this specification, and haslittle to no other data storage function.

The pixel array 505 may include a plurality of photodiodes operable todetect light for capturing an image. The plurality of photodiodes is anexample of hardware means for capturing an image, The captured image mayhave any size, and a representation of the image may be stored in thepixel array 505. The pixel array 505 may be the same as the originalimage (e.g., 128×128, 256×256, 912×912, 1,024×1,024, or any arbitraryN×N or even N×M array, for example a 320×240 array). The pixel array 505is an example of a hardware array that includes a plurality of sensorelements. The sensor elements can be arranged along a first dimension(e.g., rows) and a second dimension (e.g., columns). The pixel array 505can generate a sensor reading based on environmental conditions (e.g.,by using one or more photodiodes per sensor element to detect light at agiven location in the array). The pixel array is an example of hardwaremeans for generating a plurality of sensor readings based onenvironmental conditions. In some implementations, the pixel array maybe part of a digital camera capable of recording an image of 320×240pixels, also referred to as Quarter Video Graphics Array (QVGA)resolution.

In some optional implementations, the pixel array 505 can includeconfigurable combining circuitry coupled to the sensor elements. Theconfigurable combining circuitry can combine, in hardware, multiplesensor readings from the plurality of sensor elements to generate thepixel values, according to at least one combining pattern. Theconfigurable combining circuitry is an example of hardware means forcombining multiple sensor readings from the plurality of pixels togenerate the pixel values. The combining pattern can include a firstcombining pattern along the rows of the pixel array 505 and a secondcombining pattern along the columns of the pixel array 505. In someimplementations, a type of scaling can include averaging. Differentcombining patterns can include averaging pixel values over differentdimensions of the sensor elements. For example, a block of 2×3, 3×2,3×4, 4×3, or more generally, m×n, or any other dimension of pixel valuescan be averaged and/or weighted summed. It can be appreciated that whilethe term “pixel value” is used herein, the pixel value need not be apixel value in the sense of a value of a pixel in the sensor array. Forexample, some sensor readings may be combined to generate a pixel valuethat is then stored in the scanning window array.

The configurable combining circuitry can include, but is not limited to,controllable connections operable to connect adjacent sensor elementsalong the first dimension (e.g., rows) of the pixel array 505 andcontrollable connections operable to connect adjacent sensor elementsalong the second dimension (e.g., columns) of the pixel array 505. Thecontrollable connections is an example of hardware means for connectingadjacent pixels along the first dimension of the hardware sensor arrayand hardware means for connecting adjacent pixels along the seconddimension of the hardware sensor array. In some implementations, theconnecting adjacent sensor elements generate averaged pixel values ateach of the adjacent sensor elements being connected. Examples of thecontrollable connections include, but are not limited to, transistors.

Optionally, pixels in the pixel array 505 may be averaged as describedabove prior to loading rows from the pixel array 505 into the linebuffers 525. The averaging may be performed by shorting the active pixelsensors (APS) with each other, depending on the type of averagingdesired. For example, assume any four pixels from the pixel array 505arranged in a 2×2 fashion. That is, two pixels from a first row and 2pixels in the same columns from a row immediately below the first row.All four of these pixels may be shorted together in hardware such thatthe pixel value for each of the four pixels is now the average of thepixel values of the four pixels (described in more detail with respectto FIG. 6).

The line buffers are an example of peripheral circuitry. They caninclude a plurality of storage elements arranged along a first dimension(e.g., rows) and a second dimension (e.g., columns) of the line buffer.In some implementations, the first dimension can be different from thefirst dimension of the pixel array 505 and the second dimension can beequal to the second dimension of the pixel array 505. In someimplementations, for example the implementation of FIG. 5B, the linebuffers 525 is a single line buffer that stores pixel values from asingle row across all columns of the pixel array 505. For example, theline buffers 525 may be capable of storing selected rows of pixel valuesfrom the pixel array 505. The line buffers is an example of hardwaremeans for storing, within a plurality of storage elements within themeans for storing, pixel values each based on one or more sensorreadings from the means for generating the sensor reading. Further, theline buffers is also an example of hardware means for causing differentwindows of pixel values to be stored in the hardware means for storingpixel values at different times. The peripheral circuitry is an exampleof hardware means for buffering comprising a plurality of storageelements arranged along at least a first dimension and a seconddimension of the line buffer.

If a different scaling factor is desired, the process may be repeatedagain, described in further detail below.

Whether the pixel values are combined in hardware (e.g., averaged) priorto scanning or the pixel values are not combined, rows from the pixelarray 505 may be copied into the line buffers 525. The logic, memory,and microprocessor block 580 may provide a row address to the first rowdriver 510 (e.g., only the line for that row will be active). The firstrow driver 510 may read the row from the pixel array 505, at theprovided row address, while all the column lines remain active. Assumingthis is the first row to be copied to the line buffers 525, the secondrow driver may then remain active on the first line to write the currentrow being read by the first row driver 510. This may continue for thenext row in the pixel array 505 in a round-robin fashion. In the casewhere averaging has been performed on or in the pixel array 505, asdescribed above, the first row driver 510 may scan every other row,every third row, every fourth row, etc. depending on the number ofpixels involved in averaging. Ultimately, the line buffers 525 may befilled with rows from the pixel array 505. In some implementations, thescanning direction can be from one column to the next column or from onerow to the next row. While illustrated in FIG. 5A as a plurality of linebuffers 525, it is understood that line buffers 525 could include asingle row in some implementations, for example, the implementation ofFIG. 5B.

The logic, memory, and microprocessor block 580 may then provide acolumn address to the column driver in order to scan the desired columnsfrom the line buffers 525. In some implementations, for example someimplementations where averaging has been performed on the pixel array505, as described above, the column driver may scan every other column,every third column, every fourth column, etc. depending on the number ofpixels involved in averaging. As such, a specific scanning window fromthe line buffers 525 may be scanned (e.g., 32×32, 100×100, etc.), and byextension, a specific scanning window from combined or uncombined pixelvalues of the pixel array 505 may be scanned. The desired window maythen be moved to the scanning window array 515 via controlled inputs tothe first multiplexer 540, provided by the logic, memory, andmicroprocessor block 580. In digital implementations, analog to digitalconversion via an analog-to-digital converter (not illustrated in FIG.5A) may take place after line buffers 525 and before the values arestored in scanning window array 515, for example, an analog-to-digitalconverter may be disposed between line buffers 525 and multiplexer 540.

The scanning window array 515 is an example of another hardware array.It includes a plurality of storage elements along a first dimension(e.g., rows) and a second dimension (e.g., columns). Each of the storageelements within the scanning window array may be capable of storing ananalog or digital pixel value based on one or more sensor readings fromthe pixel array 505. In some implementations, the scanning window array515 may comprise a random-access memory (RAM) array or other twodimensional buffer capable of storing analog or digital pixel values. Insome implementations, the number of storage elements within the scanningwindow array along the first dimension (for example, rows) is smallerthan the number of sensor elements in the pixel array along acorresponding dimension (for example, rows) of the pixel array;similarly, the number of storage elements within the scanning windowarray along the second dimension (for example, columns) is smaller thanthe number of sensor elements in the pixel array along a correspondingdimension (for example, columns) of the pixel array. In someimplementations, the number of columns within the scanning window arrayis smaller than the number of columns in the line buffers 525.

The effective copying of the pixel values from the pixel array 505 intothe scanning window array 515 can be accomplished using peripheralcircuitry. The peripheral circuitry can systematically transfer analogor digital pixel values, based on sensor readings from the pixel array,into the scanning window array, to cause different windows of pixelvalues to be stored in the scanning window array at different times. Theperipheral circuitry can include the row driver, the column driver, theline buffers 525, and the multiplexer 540 or multiplexer circuit. Indigital implementations, the peripheral circuitry can further include ananalog-to-digital converter, for example, between line buffers 525 andmultiplexer 540.

Additionally, control logic (e.g., logic, memory, and microprocessorblock 580) can be coupled to the pixel array 505, scanning window array515, and the peripheral circuitry. The control logic can provide controlsignals to the peripheral circuitry to control the transfer of pixelvalues into the scanning window array 515. The control logic is anexample of hardware means for providing control signals to the means forcausing different windows of pixel values to be stored to control thetransfer of pixel values into the dedicated means for storing.

The control logic can also store a next row of pixel values from thepixel array 505 into the line buffers 525, by replacing an oldest row ofpixel values in the line buffer. Such an implementation can be moreefficient than shifting the entire set of rows down by one row andre-writing all rows accordingly. However, as shown in the image, such animplementation may result in tears in the image read from the pixelarray 505. This is due to the round-robin or circular implementation ofthe line buffers 525. However, the horizontal tear can be dealt with byvirtue of using the first multiplexer 540. The first multiplexer mayremove the horizontal tear by restoring the line order via shifting thelines. This process is described in further detail below. The peripheralcircuitry additionally includes a switch circuit (e.g., multiplexer)positioned between the line buffers 525 and the scanning window array515. The switch circuit can switch row ordering while transferring pixelvalues from the line buffer to the SWA 515. Hardware means for storing anext column of pixel values from the line buffer into the hardwarescanning window array can include switch circuit (for example,multiplexer) to remove a horizontal tear in the image. This may resultin removal of the tear (or discontinuity) along the row direction in theimage represented by pixels in the SWA 515. It can be appreciated thatscanning now vertically across the line buffers 525 and transferringwindows of the portion of the image stored in line buffers 525 may alsoresult in vertical tears in the image read from the line buffers 525 forsimilar reasons described above. To address such vertical tears, asimilar switch circuit may be used that can switch column ordering whiletransferring pixel values from the SWA to hardware computer visionfeature computation block 560. The tears in the image may be addressedpursuant to methods described further below. In implementations wherethe scanning window array 515 includes addressable memory, tears mayalso be dealt with using data pointers.

The process may then repeat for the next desired window to be scanned inthe pixel array 505. In essence, the implementation shown in FIG. 5Aallows for a multi-position, multi-size (e.g., capable of being variousdifferent dimensions) scanning window array 515 built into peripheralcircuitry.

Once the SWA 515 is filled with some pixel values, one or more pixels inthe SWA 515 can be combined (for example, averaged, as discussed hereinfor pixel values in the pixel array) and fed into one or more analog ordigital hardware computer vision feature computation blocks 560. Onesuch example of a hardware computer vision feature computation block 560is a local binary pattern (LBP) computation block, including LBPvariants such as local tertiary patterns (LTP), described elsewhereherein. Other hardware computer vision feature computation blocksinclude histogram of signed or oriented gradients (HSG, HOG), Featuresfrom accelerated segment test (FAST) corners, and their variants, amongmany others. Digital implementations of such computations blocks areknown in the art. An implementation of a circuit capable of performingLBP computations is disclosed herein. Also, in the discussion above, itis understood that for a multicolor image, a pixel may not have a singlevalue, but may have multiple values, for example three values in thecase of an (red-green-blue) RGB image. Hence, in the example of an RGBimage, the scanning window array 515 described above may actually be ascanning window comprising three sub-arrays: a red SWA, a green SWA, anda blue SWA (not illustrated as separate sub-arrays). In suchimplementations, the computer vision feature computation blocks 560shown in FIG. 5A may be shared by the different color channel SWAs, ordifferent colors may have dedicated computer vision feature computationblocks 560. Similarly, the line buffers 525 and other components shownin FIG. 5A may be shared for different color channels, or each colorchannel may have dedicated circuitry. The illustrated implementationshave assumed that the number of columns in the line buffers 525 and thenumber of columns in the sensor array are equal. However, in someimplemenations, the sensor array may be a relatively high resolutionsensor array, and sensor value averaging may be performed prior toreading rows of the data out to line buffers 525. In suchimplementations, the number of columns in the line buffers 525 may befewer than the number of columns in the sensor array.

FIG. 5B illustrates an example implementation smart vision sensorincluding a sensor element array, CV computation hardware, and dedicatedmicroprocessor. The sensor element array 302 may be similar to sensor100 illustrated in FIG. 1. In some implementations, the sensor elementarray 302 is an image sensor array. The sensor element array 302 mayinclude a correlated double sampling circuit. The sensor element array302 may also include circuitry to combine, sum or average sensor elementor pixel signals or values before outputting the signals to linebuffer(s) 525, for example in implementations where CV computation isimproved using combined values or a lower resolution. Line buffer(s) 525may include one or more line buffers to transfer signals representingthe image or portions of the image out of the sensor element array 302to other portions of the vision sensor. In some implementations, thenumber of rows in the one or more line buffers 525 is fewer than thenumber of rows in the sensor element array 302. In some implementations,the sensor element array 302 may not include circuitry for image signalprocessing (ISP), and hence, FIG. 5B illustrates an implementation wherethe sensor element array 302 and CV computation hardware 512 areconnected without intervening ISP circuitry, hence, in someimplementations, no ISP circuitry is disposed between the hardwaresensor array 302 and the hardware scanning window array 515. Thus, thesensor element array 302 and the CV computation hardware 512 with no ISPcircuitry disposed therebetween may be an example of no means for imagesignal processing disposed between the hardware means for generatingsensor readings and the hardware means for storing pixel values. Forexample, in some implementations, the signals received by the CVcomputation hardware 512 from the sensor element array 302 have notundergone ISP, for example, the signals have not undergone one or moreof defect correction, white balancing, color balancing, auto focus, lensroll off, demosaicing, debayering, or image sharpening, or anycombination thereof. However, in some such no-ISP implementations, someprocessing may occur, such as focusing or auto-exposure correction. Suchsignals that have not undergone ISP may be referred to as raw signals orraw sensor readings. Raw signals or raw sensor readings can be combined,as discussed elsewhere herein with respect to sensor readings generally,to generate raw pixel values based on the raw signals where signals usedto generate raw pixel values have not undergone ISP. Raw signals, rawsensor readings, or raw pixel values can be converted to digital,integrated to form an integral image, stored in a scanning window anddedicated CV computation hardware can be configured to receive the rawsignals, raw sensor readings, or raw pixel values, even though it isunderstood that the raw signals, raw sensor readings, or raw pixelvalues have undergone some data manipulation (including, combination,summation or integration, or conversion to digital), but have notundergone ISP. Raw pixel values can include analog or digital raw pixelvalues. In one implementation, the sensory element array 302 is aQuarter Video Graphics Array (QVGA) camera sensor without ISP circuitrywith the array comprising 320 by 240 sensor elements.

In various implementations, the CV computation hardware 512 can performCV computations in either the digital or analog domain. Some examples ofCV computation circuits capable of performing CV computations in theanalog domain are disclosed herein with reference to FIGS. 6-8 and10A-10B. Digital versions of those and similar circuits are alsopossible. Therefore, optionally, in digital implementations, ananalog-to-digital converter (ADC) 514 may be disposed between the linebuffer(s) 525 and the CV computation hardware 512. In someimplementations, the CV computation hardware 512 is dedicated CVcomputation hardware in the sense that it is hardware designed to havelittle or no functionality other than to compute CV features.

In some implementations, the CV computation hardware 512 may usecombinations, sums, or averages of signals associated with blocks ofsensor elements or pixels as discussed with reference to FIG. 1. In suchimplementations, an integral image can be useful in computing suchcombinations, sums, or averages prior to input into the CV computationhardware 512. Therefore, optionally, the vision sensor may also includetwo dimensional integration hardware 516 for computing an integral imageof at least a part of the image based on at least a subset of thesignals representative of the image sampled by at least a subset ofsensor elements in the sensor element array. However, as disclosedelsewhere herein, such combinations, sums, or averages, when useful, maybe performed with circuitry within the hardware scanning window array515, and integration hardware is therefore optional. As illustrated, thetwo dimensional integration computation hardware 516 can be incommunication with the dedicated CV computation hardware. The integralimage representative of the image sampled by the sensor element arrayand/or the integral image of a portion of the image sampled by thesensor element array can be used to more quickly combine, sum, oraverage signal values for blocks of sensor elements compared to addingthe signal values directly. Two dimensional integration hardware 516 caninclude circuitry capable of generating signals representative of theintegral image of all or a portion of the image sampled by sensorelement array in either the digital or analog domains based on rawsignals from the sensor element array. In some implementations, theintegral image (which may be an integral image of only a portion orsample window of the image sampled by the sensor element array)generated by the two dimensional integration hardware 516 can be storedin a hardware scanning window array 515. Hence the hardware scanningwindow array 515 can, in different implementations, store data based ona sample window of the image, where the stored data can comprise datarepresentative of the sample window of the image or the integral image.For example, the hardware scanning window array may include arandom-access memory (RAM) array or other form of analog or digitalmemory for storing the integral image. In implementations wherecomputing combinations, sums, or averages of signals corresponding toblocks of sensor elements is not useful, such as pixel-level LBP, it isunderstood that the two dimensional integration hardware 516 may not beincluded, and hence a sample window including analog signals from thesensor element array 302 or converted-to-digital signals from the ADC514 may be stored directly in the hardware scanning window array 515. Insome implementations, a frame buffer (not shown) may be connectedbetween the two dimensional integration hardware 516 and the hardwarescanning window array 515. The frame buffer may be operable for storageof integral image outputted by the two dimensional integration hardware516 and sample windows of the integral image may then be loaded into thehardware scanning window array 515 as needed. Alternatively, the framebuffer may be disposed between the line buffer(s) 525 and the twodimensional integration hardware 516 and may store the image. In such animplementation, the two dimensional integration hardware 516 cangenerate integral images of sample windows of the image stored in theframe buffer for storage in the hardware scanning window array 515.Hence, in various implementations, the frame buffer can be at least oneof an image frame buffer or an integral image frame buffer. Furthermore,it is understood that in some implementations, two dimensionalintegration hardware 516 may also or instead perform one dimensionalintegration. Similarly, the hardware scanning window array 515 may storea one dimensional integral image corresponding to a sample window of theimage captured by the sensor array. A one dimensional integral image canallow quick summation of groups of pixel values in a row of image data.Use of one dimensional integral images can allow for the computation ofmulti-block LBP, for example, using rotated blocks in order to detectrotated reference objects, for example, faces. The frame buffer is anexample of hardware means for transferring data to the hardware scanningwindow array. The one or two dimensional integration hardware is anexample of hardware means for computing an integral image based on theimage data transferred by the one or more line buffers.

The vision sensor may also include CV computation hardware 512. In someimplementations, the CV computation hardware 512 can compute a localizedCV feature for a block of one or more subject sensor elements based on,at least in part, signals associated with a plurality of neighboringsensor elements in proximity to the block of sensor elements. Forexample, in a local binary pattern (LBP) implementation of CVcomputation hardware, CV computation hardware can include hardware thatreceives signal values corresponding to image signals—or combinations,sums, or averages of image signals (generated, for example, using anintegral image)—and generates a digital LBP label based on the raw imagesignals. In implementations where multi-block LBP is computed, the blockof one or more subject sensor elements can include, as one example, ablock of 11 by 11 sensor elements. It is also understood that apixel-level LBP computation may also be made where the block of one ormore subject sensor elements for which the localized CV feature iscomputed is a single subject sensor element. Although the descriptionabove referenced CV computation hardware 512 as separate from thededicated microprocessor 520, it is understood that in someimplementations, dedicated CV computation hardware 512 may beimplemented in hardware within the dedicated microprocessor 520. The CVcomputation hardware 512 is an example of hardware means for computing alocal binary patterns (LBP) feature.

Generating the CV features, such as the LBP labels discussed above, indedicated hardware can reduce the power of the vision sensor compared tocomputing the CV features in a processor, for example a general purposeprocessor such as an application processor or even a dedicatedmicroprocessor. However, the vision sensor may still include a dedicatedmicroprocessor 520 coupled to the CV computation hardware 512. Thededicated microprocessor 520 receives the hardware-computed CV featuresfrom the CV computation hardware 512 and can perform higher-levelcomputer vision operations such as object-class detection (of which facedetection can be regarded as a specific case), in which the task is tofind the locations and sizes of all objects in an image that belong to agiven class, as well as other computer vision operations. Furthermore,the dedicated microprocessor 520 can provide control signals to the linebuffer(s) 525, ADC 514, two dimensional integration hardware 516,hardware scanning window array 515, and CV computation hardware 512. Insome implementations, to perform the object-class detection or othercomputer vision operations, the dedicated microprocessor 520 may use acascade classifier algorithm to perform object-class detection, forexample face detection. In an optional implementation, further powersavings are possible by implementing the cascade classifier in hardware,to further reduce the computational burden on the microprocessor.

The optional cascade classifier hardware 522 includes a hardwareimplementation of a cascade classifier. The cascade classifier 522 canbe configured to detect the presence of a reference object within thesample window stored in the scanning window array based on CV featurescomputed by the CV computation hardware 512. In some implementations,the cascade classifier is trained using machine learning techniques on adata set of images including examples of the reference object thecascade classifier will be trained for and examples of non-objects, forexample images of faces and non-faces. For example, in a first stage,the cascade classifier hardware may request from the CV computationhardware 512 that LBP features be computed for a certain number, 1, ofsubject sensor elements stored in, for example, the hardware scanningwindow array 515. In addition, the location of the subject sensorelements, {(x₁₁, y₁₁), . . . (x_(1l), y_(1l))}, will also be provided bythe cascade classifier hardware 522. Once the CV computation hardware512 provides the requested LBP features, which can be treated as vectorvalues, the cascade classifier hardware performs a summation of a dotproduct of each of the LBP features with one or more weights to generatea first weighted scalar sum value. In general, each LBP feature, (LBP₁₁,. . . , LBP_(1l)) will be multiplied by a given weight, (w₁₁, . . . ,w_(1l)), each of which can be different. The first weighted scalar sumvalue is then compared to a first threshold. If the scalar sum is lessthan the threshold, then to a given probability, there is no face in theportion of the image represented by the signals stored in the hardwarescanning window array 515, and hence the cascade classifier hardware 522sends a signal to the hardware scanning window array 515, and optionallyto other components of the vision sensor, such as the line buffer(s) 525and the sensor element array 302, to indicate that the hardware scanningwindow array 515 should continue scanning and add one or more newcolumns or rows and remove one or more old columns or rows. With asubsequent window of the image, or a subsequent plurality of signalscorresponding to a subsequent subset of sensor elements of the sensorelement array, stored in the hardware scanning window array 515, theprocess can begin anew. It is understood that the subsequent window ofthe image may overlap in large part with the previous window of theimage. In some implementations, the image is scanned from left to right,and once the end of the sensor element array 302 is reached, the imagemay be scanned again from left to right after moving down one or morerows. In another implementation, the image may be scanned from right toleft after shifting down by one or more rows, which may allow for anincreased overlap with the prior image. The cascade classifier hardware522 is an example of hardware means for a detecting reference objectwithin the sample window stored in the hardware scanning window arraybased on computer vision features computed by the computer visioncomputation hardware.

If the scalar sum is greater than the first threshold, then the cascadeclassifier hardware 522 moves to the next stage. In the next (in thisexample, second) stage, the cascade classifier hardware again requeststhe CV computation hardware 512 to provide LBP features for m subjectsensor elements at locations {(x₂₁, y₂₁), . . . (x_(2m), y_(2m))} storedin the hardware scanning window array 515. Once the CV computationhardware 512 computes and provides the requested LBP features, (LBP₂₁, .. . , LBP_(2m)), the cascade classifier hardware 522 performs anothersummation of a dot product of each of the LBP features with one or moreweights, (w₂₁, . . . , w_(2m)), to generate a second weighted scalar sumvalue. The second weighted scalar sum value is then compared to a secondthreshold. If the scalar sum is less than the second threshold, there isa low likelihood of a face being present in the portion of the imagerepresented by the signals stored in the hardware scanning window array515, and the cascade classifier sends a signal to the other componentsin the vision sensor array to continue scanning and move to a nextportion of the image. If the second weighted scalar sum value is greaterthan the second threshold, the process continues to a third stage asdescribed above. At the end of a final stage, for example an Nth stagein a N-stage cascade classifier, if the Nth weighted scalar sum value isgreater than the Nth threshold, then a face is detected in the portionof the image stored in the hardware scanning window array 515. Thecascade classifier hardware 522 can then indicate to the dedicatedmicroprocessor 520 that a face has been detected, and may furtheroptionally indicate the location of the portion of the image in whichthe face or portion of a face was detected.

The numbers and locations of subject sensor elements within the hardwarescanning window array 515 for which LBP is to be computed at each stageis generally programmed into the cascade classifier hardware 522 andresult from the machine learning training discussed above. Similarly,the weights to multiply to each of the LBP features are also generallydetermined during machine learning training and then programmed into thecascade classifier hardware 522. The number of stages also results fromthe training, and is programmed into the cascade classifier hardware522. In some implementations, a cascade classifier can include between 1and 31 stages, for example, 15 stages. Cascade classifier hardware 522can, in some implementations, be considered dedicated cascade classifierhardware in the sense that it is hardware designed to perform thecascade classifier function and little to no other significantfunctions. While the implementation described above relates to a cascadeclassifier based on programmed weights and thresholds based on previous,in the laboratory, training and machine learning to generate a model, itis understood that cascade classifier hardware 522, or other hardware inperipheral circuitry designed to perform CV operations based onhardware-computed CV features received from CV computation hardware 512,can be designed to perform machine learning in the field.

In the implementation just described, the dedicated microprocessor 520can then determine what to do with the, for example, face detectedevent. For example, it may send an event to a second microprocessor. Insome implementations, the dedicated microprocessor 520 and the secondmicroprocessor may correspond to dedicated microprocessor 404 and theapplication processor 406 of FIG. 4, respectively. As illustrated inFIG. 5B, the dedicated microprocessor 520 includes an interface 524 forcommunications with the second microprocessor.

Although the description above referenced cascade classifier hardware522 as separate from the dedicated microprocessor 520, it is understoodthat in some implementations, the dedicated cascade classifier hardware522 may be implemented in hardware within the dedicated microprocessor520. Alternatively, a cascade classifier may be run as a softwarealgorithm on the dedicated microprocessor 520. Furthermore, othersoftware algorithms may be run on the dedicated microprocessor in theplace of, or in addition to, the cascade classifier. In someimplementations, dedicated hardware may be implemented to detect, forexample, a face using histograms. Such an implementation may includesuch dedicated hardware in the place of, or in addition to, cascadeclassifier hardware 522. In some such implementations, a histogram ofall LBP labels computed for a sample window of the image stored in thescanning window array 515 can be compared to a reference histogram todetect the presence of a face in the sample window stored in thescanning window array 515. Uses of histograms with LBP labels orfeatures are discussed below with reference to FIG. 9.

In the implementation illustrated in FIG. 5B, one or more of the linebuffer(s) 525, the ADC 514, the two dimensional integration hardware516, the hardware scanning window array 515, the CV computation hardware512, the cascade classifier hardware 522, or any combination thereof,may be considered peripheral circuitry 526, that is circuitry that isperipheral to the sensor element array 302. It is also understood thatthe various components just listed, or any combination thereof, may beimplemented instead as in-pixel circuitry within the sensor elementarray 302.

FIG. 5C illustrates a high-level block diagram for implementing ascanning window in hardware in conjunction with a corner-detector. Thehigh-level block diagram includes a first row driver 510, a second rowdriver 520, line buffers 525, a column driver 530, a first multiplexer(MUX) 540, and a scanning window array (SWA) 515. The scanning windowarray 515 can also be connected to a second multiplexer (MUX) 550 and athird multiplexer (MUX) 592. The second multiplexer 550 can be connectedto a hardware CV feature computation block 590 comprising circuitryoperable to perform CV feature computation, such as a corner detection,that is relatively fast compared to other, more complicated CV features.As illustrated, the CV feature computation block is a Features FromAccelerated Segment Test (FAST) corner-detector CV feature computationblock 590. A FAST corner-detector implemented in hardware is an exampleof a hardware means for performing corner detection.

The FAST corner-detector is a corner detection method which can be usedto extract feature points and later used to track and map objects inmany computer vision tasks. Use of a FAST corner-detector may providecomputation efficiency. The FAST corner detector may use a circle of 16pixels (a with a radius of 3 pixels) to classify whether a subject pixelis actually a corner. If a set of N contiguous pixels in the circle areall brighter than the intensity of candidate or subject pixel p by athreshold value t or all darker than the intensity of candidate pixel pby a threshold value t, then p is classified as corner. There is atradeoff in choosing N, the number of contiguous pixels, and thethreshold value t. N is often chosen as 12. However, in trackingcontexts, N can be 9.

In the implementation shown in FIG. 5C, if the CV feature computationblock 590 determines that a sample window of the image stored in thescanning window array (SWA) 515 includes a corner, the third multiplexer592 may remove the vertical tear present in the image stored in thescanning window array (SWA) 515 and store a “tear-free” version of theimage in a second hardware scanning window array 594. The secondscanning window array 594 can be coupled to control logic, as describedwith reference to FIG. 5A, and the control logic can provide controlsignals to control the transfer of pixel values from the SWA 515 to thesecond hardware scanning window array 594 based on detection of a cornerby the hardware CV feature computation block 590 in an image representedby the pixel values stored in the second hardware scanning window array594. The third multiplexer 592 is shown positioned between the SWA 515and the second hardware scanning window array 594 and is capable ofswitching column ordering while transferring the pixel values from theSWA 515 to the second hardware scanning window array, thereby removing adiscontinuity (tear) along a column direction in the image. A CVdescriptor or CV feature may then be computed directly from the“tear-free” version of the image stored in the second hardware scanningwindow array 594 (labeled “Descriptor” in FIG. 5C) by comparing valuesof relevant pixels in hardware using a second CV feature computationblock 595 operable to perform computer vision computations based onvalues stored in the second hardware scanning window array 594. The CVfeature computation block is an example of hardware means forperforming, via computer vision computation circuitry computer visioncomputations.

The second CV feature computation block 595 may be dedicated hardwareconfigured to compute a CV feature or CV feature descriptor that is usedto label/describe salient points in an image such that visually similarfeatures have similar descriptions. Several binary feature descriptorsexist including, but not limited to, Scale-Invariant Feature Transform(or SIFT), Binary Robust Invariant Scalable Keypoints (BRISK), BinaryRobust Independent Elementary Features (BRIEF), Oriented FAST andRotated BRIEF (Orb), and Fast Retina Keypoint (FREAK), to name but afew. The second CV feature computation block 595 may include circuitryconfigured to compute CV features or descriptors using a samplingpattern (e.g., locations of the pixel used) and sampling pairs (e.g.,pixels whose intensities are compared).

In another implementation, the second CV feature computation block 595may be computed directly from the scanning window array (SWA) 515. Insuch implementations, second CV feature computation block 595 can becoupled directly to SWA 515 via the third multiplexer 592. Even in suchimplementations, second CV feature computation block 595 may only beactivated if CV feature computation block 590 determines that the samplewindow stored in SWA 515 includes, for example, a corner. However,removing the vertical tear first may be advantageous because thepresence of the vertical tear may have a greater impact on theprocessing power required since each time second CV feature computationblock 595 accesses SWA 515, third multiplexer 592 will remove thevertical tear. In situations where second CV feature computation block595 will be accessing SWA 515 many times for computation, it can improveefficiency to remove the tear once by storing a tear free image insecond hardware scanning window array 594 and computing features anddescriptors directly using a tear free image.

In some implementations, a vision sensor may output FAST 590 cornerlocations and optionally image segments around those detectedFAST-detected corners. In such implementations, second hardware scanningwindow array 594, third multiplexer 592 and descriptor 595 may not bepresent.

To realize further power savings, some implementations, as illustratedin FIG. 5C, seek to reduce reliance on multiplexers between a hardwarescanning window array and a CV feature computation block. If, forexample, the computer vision feature or descriptor will be computed bysecond CV feature computation block 595 in many locations throughout thesample window stored in the scanning window array (SWA) 515, then powersavings may be realized by removing the vertical tear with a MUX 592 andhaving a second tear-free scanning window array to use for computingmany, many CV feature or descriptor computations. Furthermore, theremoval of the tear can be avoided if the portion of the image in thesample window is unlikely to contain a target object. By gating thetransfer of the sample window to the second hardware scanning windowarray 594 by the detection of a CV feature, for example a FAST corner asillustrated in FIG. 5C, removal of the tear can be avoided and furtherCV feature or descriptor computation may also be avoided. If the CVfeature computation block 590 indicates, for example, that no FASTcorner exists in the sample window stored in SWA 515, the SWA 515 simplymoves on to another portion of the image as described elsewhere hereinwithout invoking more time-consuming CV feature computations performedin second CV feature computation block 595. Such implementations canreduce power use and increase computational speed and efficiency inimplementations where the CV feature computed by CV feature computationblock 590, for example a FAST corner detection circuit, uses less powerand is faster than the CV feature or descriptor computed by second CVfeature computation block 595, for example a SIFT feature descriptor.The CV feature computation block 595 is an example of hardware means forperforming computer vision computations based on values stored in thesecond hardware scanning window array.

FIG. 6 illustrates a hardware implementation for optionally averagingpixel values in the pixel array 505 (for example, pixel array 505 shownin FIG. 5A or 5B), prior to reading the pixels into the line buffers.Shown in FIG. 6, is an illustrative example of four adjacent pixels(e.g., active-pixel image sensors 610) from the pixel array 505, shown,for purposes of illustration in FIG. 6, as a 160 by 160 pixel array. Inbetween the active-pixel image sensors 610, may lie a row short line 620and a column short line 630. Additionally, circuits within each pixelmay be coupled to each other through two transistors respectively acrosseach of the row short line and the column short line. The transistorsmay act as “switches” to, for example, connect charge storage elementsfrom neighboring pixels (e.g., short the photodiodes) to average thesensor reading of the pixels). In some implementations, prior to readingthe pixels into the line buffers (of FIGS. 5A and 5B), a 2×2 block ofpixels may be combined into a single value, thereby reducing theresolution of the image. Once this is accomplished, the reducedresolution image may be scanned into the scanning window array 515 (seeFIG. 5). As described elsewhere herein, scanning a reduced resolutionimage may include skipping rows and columns. It may be advantageous insome implementations to reduce the resolution, scan the lower resolutionimage into the scanning window array, perform a computer vision featurecomputation using a computer vision feature computation block 560 (seeFIG. 5), and then repeat the process for another, even lower resolution.In such a case, even though the combining is destructive, furtherresolution reduction can still be accomplished for some (but not all)lower resolutions. For example, when the resolution is reduced bycombining a 2×2 block of pixels, a subsequent further reduction ofresolution is possible by combining the 2×2 block of pixels with threeof its neighboring 2×2 blocks to then create a 4×4 block of pixels. This4× reduced resolution image may then be scanned into the scanning windowarray as described elsewhere, and a computer vision feature computationmay then be performed. Subsequent reductions in resolution are alsopossible to 8× (by then combining neighboring 4×4 blocks to create an8×8 block of pixels) to 16× (by then combining neighboring 8×8 blocks tocreate a 16×16 block of pixels), etc. It is also understood thatresolution reduction can also be accomplished in the pixel array 505 fora 3× reduction, then a 6× reduction, then a 12× reduction, etc. Whenresolution is reduced in the pixel array 505 in the manner described, itis understood that further resolution reduction may be performed in thescanning window array 515 prior to performing a computer vision featurecomputation using block 560. Combining full or reduced resolution imagereadout out of the pixel array 505 with reduction in the scanning windowarray 515 can provide for intermediate resolution reductions between 1×and 2×, between 2× and 4×, between 4× and 8×, etc., prior to computervision feature computation. It is understood in the discussion abovethat combining or averaging pixels, for a 2×2 pixel block for example,in the case of a multicolor image, for example an RGB image, meansseparately combining the red channels in the 2×2 pixel block to get asingle combined red value, separately combining the green channels inthe 2×2 pixel block to get a single combined green value, and separatelycombing the blue channels in the 2×2 pixel block to get a singlecombined blue value. Hence, combining or averaging pixels for amonochrome image would mean that combining or averaging a 2×2 pixelblock results in a single combined value for the block; however,combining or averaging pixels in the case of an RGB image, for example,would mean that combining or averaging a 2×2 pixel block results inthree separate values, a combined R, combined G, and a combined B.Similarly, combining or averaging any sized pixel block could result ina multiple values (not just one), the number being equal to the numberof color channels in the image, not just one single combined value.

In this example, both the row short line 620 and the column short line630 may be enabled, completing the transistor circuits and shorting eachof the four pixels with one another. Accordingly, each of the fourpixels may take on a pixel value that is the average of the four pixels.This process may occur for every pixel in the pixel array 505, and doesnot necessarily need to be done in a 2×2 fashion as described. In theparticular example described, if all the pixels are shorted in the 2×2fashion, adjacent rows may have the same pixel values. For example, rowsone and two may have the same values, rows three and four may have thesame values, etc.

In some implementations, scaling of the image can be accomplished byshorting the pixels for local averaging and reading them out again. Forexample, if the pixel array is 560×560 pixels, the resolution of theimage can be changed from 560×560 to 80×80. This process can be repeatedif yet even lower resolution is desired, e.g., 40×40. It can beappreciated that reading out the pixels at a lower resolution isoptional and the implementation described with respect to FIG. 5 maystill provide advantages over existing solutions even without readingout the pixels at a lower resolution. For example, an advantage may bereduced complexity of the CV computation blocks, in comparison to asystem that does CV computations on the entire pixel array. In someimplementations, it can optionally be desirable to recover the originalresolution in the pixel array 505 after the combining, averaging, orscaling described above. In such a case, each pixel may have a sample,hold plus buffer circuit to allow for restoration of the original pixelvalue at each pixel after the destructive combining operationsdescribed. For example, this could allow a sequence of resolutionreductions from 1× (full resolution) to 2× (half of the resolution) to4× (one fourth of the resolution) to 8× (one eighth of the resolution),etc., as described above, to then be followed by a scanning out of theimage, after restoring the original values, with any one or more of a 1×(full) resolution image, a 3× (one third) resolution image, a 6× (onesixth) resolution image; or a 1× (full) resolution image, a 5× (onefifth) resolution image, a 10× (one tenth) resolution, etc.

FIG. 7 illustrates a hardware implementation for the line buffers 525.The line buffers 525 may be filled with the pixel values by using sampleand hold circuits 710 (for each pixel) along with a horizontal readoutof the pixel array. In this example, the line buffers may consist of 32lines. As described above, the row buffer (via inputs from the logic,memory, and microprocessor block) may select a row from the pixel arrayto be read by the first row driver. The pixels in the desired row fromthe pixel array may be selected via the row line select 720 coming fromthe second row driver 520. The second row driver may then write the rowsinto the line buffers 525. The sample and hold circuit 710 (for eachpixel) may then sample and hold each pixel read from the desired row.

Upon reading all the desired rows and writing them into the line buffers525, the column driver 540 may then select, via column line select 730,desired columns from the line buffers 525 needed to fill the scanningwindow array 515.

In some implementations, the desired pixels to fill the scanning windowarray 515 from the line buffers 525 may then be fed to the firstmultiplexer 540 without an intervening analog-to-digital converter. Thismay be accomplished via source follower or buffer 740. As describedabove, the pixels in the line buffers 525 may suffer from horizontaland/or vertical tear. The hardware to remedy the horizontal and/orvertical tear is described in further detail below. As noted elsewhere,however, in implementations of a digital scanning window array 515, ananalog-to-digital converter may first convert the analog values todigital values before the digital values are then fed to the firstmultiplexer 540.

FIG. 8 illustrates a hardware implementation for correcting horizontaland/or vertical tear of the image in the line buffers 525. The firstmultiplexer 540 may restore the line order of the rows in the linebuffers 525 in order to correct the horizontal tear. In someimplementations, a software application configured to interface with thehardware implementation described herein can be aware of where thehorizontal tear in the line buffers 525 is located. The software mayprovide a value (e.g., M) of the location of the tear to the firstmultiplexer 540 (e.g., providing an instruction to shift by M). In someimplementations, the first multiplexer 540 may be able to shift theoutput from the line buffer by up to 31 lines (e.g., by having circuitsto shift by 16, 8, 4, 2, and 1). In the case where the tear location is1 (e.g., M=1), the first multiplexer 540 may shift the lines by M.

It can be appreciated that the vertical tear can be corrected in thesame manner with the addition of another multiplexer after the linebuffers 525 (not shown).

The scanning window array 515 may now hold a copy of the image from thepixel array at a specified location. The desired location of the imagecan be scanned in a raster fashion with the hardware circuits describedherein, or in some implementations can be software controlled.Additionally the desired location of the image can be changed on-demandfor tracking purposes.

In some implementations, the hardware circuits described herein may alsobe used for intensity-based image readouts similar to traditional camerasensors.

Multi-Block Computer Vision Feature Implementation in Hardware

In some implementations, the hardware circuits described herein can alsoinclude configurable combining circuitry. The configurable combiningcircuitry can be coupled to the plurality of storage elements, and canbe enable the computation of multi-block computer vision features inhardware.

FIG. 9 illustrates an local binary patterns (LBP) computer visionfeature implementation. A group of nine pixels 910 is shown, with onepixel surrounded by the remaining eight pixels. The neighboring pixelscan be used to calculate an LBP. For each pixel, the pixel may becompared to each of its eight neighboring pixels (on its left-top,left-middle, left-bottom, right-top, etc.). Where the center pixel'svalue is greater than the neighboring pixel's value, the neighboringpixel value can be written as a one. Otherwise, the neighboring pixel'svalue can be written as a zero, shown as element 912. From the values ofeight neighboring pixels, an 8-digit binary number can be obtained. Ahistogram can then be computed, over the cell made up of the ninepixels, of the frequency of each 8-digit binary number occurring (e.g.,each combination of which pixels are smaller and which are greater thanthe center), as shown in element 920. In some cases, the histogram canbe optimally normalized. A similar operation on all the cells within thewindow can be performed and the histograms of all the cells can beconcatenated, shown in 920. This may allow for obtaining the featurevector of the window. The feature vector can then processed using amachine-learning algorithm to classify images for face recognition orother object analysis.

The pixels may be stored within a hardware array, such as a scanningwindow array, that includes a plurality of storage elements arrangedalong a first dimension (e.g., rows) and a second dimension (e.g.,columns) of the hardware array. Each of the storage elements can storeanalog or digital pixel values. The storage elements may be capacitorsin an some implementation, for example, or a hardware array capable ofstoring digital values in a digital implementation, such as arandom-access memory (RAM) array. In some implementations, hardwarescanning window array can allow for summation or averaging of pixelvalues to generate sums or averages of the pixels within a block. In oneexample, this can be accomplished in implementations such as thosediscussed with reference to FIG. 5B where sample windows of an integralimage (or integral images of sample windows of the original image) arestored in the hardware scanning window array, allowing computationallyefficient calculation of averages or sums of pixel values. In otherimplementations, the hardware scanning window array can includecircuitry that allows the summation or averaging of blocks within orwithout the array. In the various approaches, weighted sums or averagesof pixel values can be computed for blocks varying in size (2 by 2pixel, 3 by 3 pixel, 4 by 4 pixel, etc.). In some implementations,blocks or cells as large as 11 by 11 pixels, or larger, may be combined,summed, or averaged. An LBP operation can then be performed, inhardware, on a cell comprising, for example, a 3 block by 3 block cell,as shown in element 930.

Additionally, multi-block LBP (as opposed to pixel-level LBP, asdescribed above) can be used for a more robust feature vector. For easeof discussion, the remaining disclosure will discuss LBP and multi-blockLBP in the context of averaged pixel values from a block or cell ofpixels, but it is understood that weighted sums or other combinations ofpixel values may also be used in various implementations instead ofpixel value averages. Multi-block LBP can first obtain the average pixelvalues for all the pixels in a block. For example, in 930, the top-leftblock has six pixels with pixels values: 6, 8, 8, 6, 7, 7 (clockwise).Multi-block LBP can first compute the average value of these six pixels,which is 7. This can be repeated for each block within the window. Forexample, the average values for the pixels in the window shown is 7, 8,12, 8, 9, 11, 6, 20, and 19. The traditional LBP operation can then beperformed on the multi-block cell by treating the blocks as “pixels”,e.g., values of zero or one are written to neighboring blockssurrounding the center block. As can be seen in the figure, the resultof the LBP operation results in the following written values: 0, 0, 1,0, 1, 0, 1, 1. The traditional LBP operation may then continue asdescribed above. The example illustrated in element 930 is understood tooptionally include some thresholding. For example, in someimplementations, the LBP operation on blocks surrounding the centralblock with the average value of 9 will yield a result of “1” (or otherbinary number) for blocks that are greater than the value 9 by a certainthreshold. Similarly, in some implementations, thresholding can besimultaneously or independently performed such that the LBP operation onblocks surrounding the central block with the average value of 9 willonly yield a result of “0” (or other binary number) for blocks that areless than the value 9 by a certain threshold. In some variants of LBP,for example local tertiary patterns (LTP), thresholding can be performedso that the LBP operation on blocks surrounding the central block withthe average value of 9 will yield one of three values: a “−1” for blocksthat are less than the central block by a certain value, a “0” forblocks that are within the threshold compared to the value of thecentral block, or a “1” for blocks that are more than the central blockby the threshold value. In a similar way, other computer visionalgorithms, such as histogram of signed gradients (HSG), may benefitfrom block-level averaging of multiple pixel values. Some hardwareimplementations for multi-block LBP are described in further detailbelow.

FIG. 10A illustrates a hardware implementation for a multi-blockcomputer vision feature implementation. The hardware described withrespect to FIG. 10A may be provided as a scanning window array (SWA)that holds the contents of a sub-image of a larger image defined by asliding sample window superimposed over the larger image. In someimplementations, the scanning window array image may be made availablein hardware as a charge on an array of capacitors corresponding to pixelvalues. The scanning window array image may contain horizontal and/orvertical tears, which can be a resulting artifact from reading thescanning window image from the original image. Furthermore, prior to thescanning of the sub-image into the SWA from a larger array, for examplean array of pixels as a part of an optical sensor or camera sensorsystem, pixel values of the pixel array may be combined or averaged, orthe original resolution of the image in the pixel array may have beenreduced. Hence, any pixel value combining or averaging described hereinmay represent a further reduction in resolution of the image relative tothe original resolution. This can be advantageous for some computervision feature computations or operations.

If the SWA is made available by hardware, in one implementation, forexample an implementation where the SWA storing pixel values and thecomputer vision computations will be performed using circuitry, thepixel values may be stored as charges on capacitors 1010 (e.g., 1010 a,1010 b, 1010 c, 1010 d) charged up from a sample and hold bufferassociated with each pixel (see FIG. 10B, not shown in FIG. 10A forclarity). FIG. 10A shows a plurality of capacitors 1010, each capacitor1010 associated with a pixel and storing a pixel value by maintaining acharge. The transistors can be activated by driving column short lines1030 a, 1030 b, 1030 c, 1030 d or a row short lines 1020. For example,if the leftmost column short line 1030 a in the figure is driven, theleftmost capacitor 1010 a in the upper row may be shorted to the secondto left capacitor 1010 b in upper row and the leftmost capacitor 1010 ein the lower row may be shorted to the second to left capacitor 1010 fin the lower row. The value of the shorted pixels may be read out andfed to a multiplexer that can select the desired pixel values ofinterest. The capacitors may be controlled by configurable combiningcircuitry coupled to the capacitors. The configurable circuitry cancombine, in hardware, multiple pixel values from the capacitors, togenerate combined pixel values according to different combining patterns(for example, see FIG. 10C). The configurable circuitry is an example ofhardware means for combining some multiple pixel values to generate afirst set of combined pixel values according to a first combiningpattern. Such combined pixel values can represent an average of thepixel values thus combined. It can be appreciated that combining of thepixel values can be performed on any dimension of the scanning windowarray. For example, pixel values within a 2×2, 3×3, 4×4, 5×5, or N×Nblock within the scanning window array can be combined (for example,averaged). More generally, pixel values within a 1×2, 2×1, 2×3, 3×2,3×4, 4×3, or M×N (where M or N may also be equal to 1) pixel blockwithin the scanning window array can also be combined (for example,averaged). While the array shown in FIG. 10A is a 4 by 4 array ofcapacitors, it is understood that the SWA may be larger, depending uponthe application. In some implementations, the SWA may be a 32×32 array.In some implementations, the SWA may be rectangular and may be an M×Narray.

The configurable circuitry can include row short lines (e.g., firstcontrollable connections operable to connect adjacent circuit elementsalong the row) and column short lines (e.g., second controllableconnections operable to connect adjacent circuit elements along thecolumn). The circuitry can allow for a first destructive combining ofsome of the multiple pixel values to generate a set of combined pixelvalues based on the combining pattern. The capacitors in the array canthen be re-loaded with the data from the sample and hold plus buffercircuit (see FIG. 10B). The destructive combining can be repeated forsubsequent combining of other pixels according to another combiningpattern. It can be appreciated that other pixels does not necessarilymean mutually exclusive pixels. For example a new group of pixels caninclude one or more pixels from the previous combining operation.Combining of the pixel values can generate averaged pixel values for ablock comprising the adjacent sensor elements being connected. Forexample, it may be desirable to combine 2×2 pixel blocks prior to CVfeature computation. Subsequently, it may be desirable to combine 3×3pixel blocks prior to CV feature computation. Since the pixel valuecombination is destructive (for example, shorting capacitors asdescribed above with respect to FIG. 10A), to perform a 3×3 pixel blockcombination after having performed a 2×2 pixel block combinationrestoring the original pixel values within the SWA. Sample and hold plusbuffer circuit 1050 as shown in FIG. 10B allows for the recovery of theoriginal pixel values after destructive combining or averaging isperformed.

FIG. 10C illustrates a SWA connected to a computer vision (CV) featurecomputation block 1080, labeled LBP, but it is understood that othercomputer vision feature computation operations may be performed inhardware, such as HSG, FAST corners, or Haar-like features. Themultiplexer (MUX) 1070 can be useful in dealing with tears in the imagerepresented in the SWA prior to local binary patterns (LBP) 1080 orother hardware-based CV feature computation. It is also worth notingthat the SWAs 1060 described herein allow for the temporary storing,possible combination and/or averaging, or re-arranging of pixels priorto a hardware-based CV feature computation. In the discussion above,each pixel value in an image was assumed to have a single value, as in amonochrome image. However, it is understood that for a multicolor image,a pixel will not have a single value, but will have multiple values, forexample three values in the case of an (red-green-blue) RGB image.Hence, in the example of an RGB image, the SWA 1060 described above mayactually be a scanning window comprising three sub-arrays: a red SWA, agreen SWA, and a blue SWA (not illustrated as separate sub-arrays inFIG. 10C). The computer vision feature computation blocks shown in FIG.10C (labeled “LBP”) 1080 may be shared by the different color channelSWAs, or different colors may have dedicated computer vision featurecomputation blocks. Similarly, the MUX 1070 illustrated could be sharedor each color may have a dedicated MUX 1070. Furthermore, it isunderstood in the discussion above that combining or averaging pixels,for a 2×2 pixel block for example, in the case of a multicolor image,for example an RGB image, means separately combining the red channels inthe 2×2 pixel block to get a single combined red value, separatelycombining the green channels in the 2×2 pixel block to get a singlecombined green value, and separately combing the blue channels in the2×2 pixel block to get a single combined blue value. Hence, combining oraveraging pixels for a monochrome image would mean that combining oraveraging a 2×2 pixel block results in a single combined value for theblock; however, combining or averaging pixels in the case of an RGBimage, for example, would mean that combining or averaging a 2×2 pixelblock results in three separate values, a combined R value for theblock, a combined G value for the block, and a combined B value for theblock. Similarly, combining or averaging any sized pixel block couldresult in a number of values (not just one), the number being equal tothe number of color channels in the image. In implementations where theSWA is storing a portion of an integral image based on pixel valuesbased on sensor readings from the sensor array, it is understood thatthe SWA may also include three sub-arrays holding an integral image foreach color channel.

In some implementations, the combining may appropriately handle avertical and/or horizontal tear present in the image stored in thescanning window array as a result of the use of a round-robin linebuffer to fill the scanning window array with values from a hardwaresensor array, as illustrated in FIG. 10D. For example, if the verticaltear is located in between capacitor 1010 a and 1010 b, pixel values1010 b and 1010 c can be shorted and pixel values 1010 d and 1010 a canbe shorted (see FIG. 10A). A multiplexer can then be used to read thecolumn values in the correct order (e.g., beginning at 1010 b). Forexample, as shown in FIG. 10D for a vertical tear 1092, the pixelswithin a single block include pixels in the last column (far right ofthe SWA) and pixels in the first two columns (far left of the SWA);hence when shorting all pixels in a block in such a situation, somepixels on the far right will be shorted with pixels on the far left.Similarly, for the example shown of both a vertical and a horizontaltear 1094, pixels that are within a single block that are to be averagedinclude pixels that are in the first two rows and in the bottom row. Inthis example, a block that traverses a corner may then be averaged byshorting pixels from all four corners (the 2×2 pixel group in the upperleft will be shorted with the 2×1 pixel group in the upper right cornerand the 1×1 pixel in the lower right corner and the 1×2 pixel group inthe lower left corner).

Once the capacitors are shorted and average pixel values are determinedfor each pixel within each block within the scanning window array, amulti-block LBP operation, or any other computer vision operation, canbe carried out (see FIG. 10C). The combined (e.g., averaged) pixelvalues in the scanning window array can be selected appropriately by amultiplexer and then fed to the multi-block LBP circuit (or other CVfeature computation circuit). By implementing the multi-block LBP inhardware, the LBP operation can be performed multiple times with blocksof varying locations within the SWA and/or of varying sizes (number ofpixels combined or averaged).

For example, as shown in FIG. 11, the size for a number of blocks canvary. In example 1110, a block represents a combining of a 3×3 group ofpixels, and there is a 3×3 cell of blocks. In example 1120, a blockrepresents a combining of a 3×1 group of pixels and there is a 3×3 cellof blocks. Examples 1110 and 1120 may be used, for example, in an LBP orHSG hardware CV feature computation. In example 1130, a block representsa combining of a 3×3 group of pixels, and there is a 1×2 cell of blocks.In some implementations, the computer vision operation is optional.

In some implementations, multiple circuit variations can be implementedusing the same principle for other types of CV features, such asHaar-like features. A software application can turn on the desiredcircuit variation as needed. In some implementations, ananalog-to-digital converter (ADC) can be used for pixel intensityreadout. It can be appreciated that any other circuit elements can beadded for further processing (e.g., convolutions, deep learning, etc.).These additional circuit elements can be used in isolation or incombination.

The multi-block LBP can be performed using computer vision computationcircuitry coupled to the configurable combining circuitry. The computervision computation circuitry can perform, in hardware, computer visioncomputations based on combined pixel values. The computer visioncomputation circuitry is an example of hardware means for performingcomputer vision computations.

In the scanning window array (SWA) of FIG. 10A, transistors are shown toenable shorting of capacitors that are adjacent along a row (forexample, shorting capacitors 1010 a and 1010 b) or capacitors that areadjacent along a column (for example, shorting capacitors 1010 a and1010 e). However, it is understood that the transistors can be arrangeto allow for other forms of combining pixel values. For example,transistors can be configured to further allow combining of capacitorsdiagonally. In this implementation, a transistor (not shown) could beprovided to short, for example, capacitor 1010 a with capacitor 1010 f.This could allow for the computation of blocks that are at an anglerelative to the SWA (for example, the 3 block by 3 block cell shownsuperimposed on SWA could be at an angle relative to the SWA).

FIG. 12 is a flowchart 1200 of a method for isolating pixel values inhardware. In block 1210, a sensor reading based on environmentalconditions may be generated via a plurality of pixels. The plurality ofpixels may be arranged along at least a first dimension and a seconddimension of the hardware sensor array. The hardware sensor array may bea sensor for a camera. For example, in FIG. 5, the pixel array (e.g.,hardware sensor array) stores pixel values based on environmentalconditions. In this example, pixel values representing a portrait of awoman are stored in the pixel array.

In some implementations, the hardware sensor array may also includeconfigurable combining circuitry coupled to the plurality of pixels, theconfigurable combining circuitry operable to combine, in hardware,multiple sensor readings from the plurality of pixels to generate thepixel values, according to at least one combining pattern. Theconfigurable combining circuitry may include a first plurality ofcontrollable connections operable to connect adjacent pixels along thefirst dimension of the hardware sensor array and a second plurality ofcontrollable connections operable to connect adjacent pixels along thesecond dimension of the hardware sensor array. When the adjacent pixelsare connected, averaged pixel values may be generated at each of theadjacent pixels being connected. It can be appreciated that performingthe averaging may be optional with respect to flowchart 1200.

In block 1220, a pixel value based on one or more sensor readings from ahardware sensor array may be stored within a plurality of storageelements within the hardware scanning window array. The plurality ofstorage elements may be arranged along at least a first dimension and asecond dimension of the hardware scanning window array. For example, inFIG. 5A, a portion of the pixel values based on sensor readings from thepixel array are stored in the scanning window array.

In block 1230, different windows of pixel values to be stored may becaused to be stored via peripheral circuitry for systematicallytransferring pixel values. The pixel values to be stored may be based onsensor readings from the hardware sensor array, in the hardware scanningwindow array at different times. In some implementations, the peripheralcircuitry may include a line buffer comprising a plurality of storageelements arranged along at least a first dimension and a seconddimension of the line buffer, the first dimension of the line bufferbeing smaller than the first dimension of the hardware sensor array, thesecond dimension of the line buffer being equal to the second dimensionof the hardware sensor array. For example, in FIG. 5, the first rowdriver, second row driver, and column driver cause the pixel values fromthe pixel array to be stored in the line buffers.

In block 1240, signals to the peripheral circuitry to control thetransfer of pixel values into the hardware scanning window array may beprovided. The signals may be provided via control logic coupled to thehardware sensor array, the hardware scanning window array, and theperipheral circuitry. For example, in FIG. 5, the logic, memory,microprocessor block sends signals to the first and second row drivers,column driver, and first multiplexer to transfer pixel values into thehardware scanning window array.

In some implementations, the control logic may be capable of storing anext row of pixel values from the hardware sensor array into the linebuffer, by replacing an oldest row of pixel values in the line buffer,thereby introducing a discontinuity along a row direction in an imagerepresented by the pixel values stored in the line buffer. However, theperipheral circuitry may include a switch circuit positioned between theline buffer and the hardware scanning window array, the switch circuitcapable of switching row ordering while transferring pixel values fromthe line buffer to the hardware scanning window array, thereby removingthe discontinuity along a row direction in an image represented by thepixel values stored in the line buffer. For example, in FIG. 5, thefirst multiplexer functions as the switch circuit capable of switchingrow ordering. Further, in some implementations, the peripheral circuitrymay also include a switch circuit positioned between the hardwarescanning window array and a computer vision feature computation block,the switch circuit capable of switching column ordering whiletransferring pixel values from the hardware scanning window array to thecomputer vision feature computation block, thereby removing thediscontinuity along a column direction in an image represented by thepixel values stored in the hardware scanning window array. For example,in FIG. 5, the second multiplexer functions as the switch circuitcapable of switching column ordering.

In some implementations, the method can also include combining, viaconfigurable combining circuitry coupled to the plurality of storageelements, of some multiple pixel values to generate a first set ofcombined pixel values according to a first combining pattern, whilemaintaining the multiple pixel values for subsequent combining of someother multiple pixel values to generate a second set of combined pixelvalues according to a second combining pattern. For example, in FIG. 9,the different pixel values are combined according to a first combiningpattern and a second combining pattern. The first and second set ofcombined pixel values can, in some implementations, include an averageof the combined pixel values. Alternatively, combined pixel values caninclude a sum of the combined pixel values. In another implementation,combined pixel values can include a largest pixel value among thecombined pixel values.

In some implementations, the method may further include performing, viacomputer vision computation circuitry coupled to the configurablecombining circuitry, computer vision computations. The computer visioncomputations may include a first computer vision computation based onthe first set of combined pixel values and a second computer visioncomputation based on the second set of combined pixel values, as part ofa multi-block local binary (LBP) operation. For example, in FIG. 9, amulti-block LBP operation is performed on the combined pixel values.

FIG. 13 illustrates an implementation of a mobile device 1305, which canutilize the sensor system as described above. It should be noted thatFIG. 13 is meant only to provide a generalized illustration of variouscomponents, any or all of which may be utilized as appropriate. It canbe noted that, in some instances, components illustrated by FIG. 13 canbe localized to a single physical device and/or distributed amongvarious networked devices, which may be disposed at different physicallocations.

The mobile device 1305 is shown comprising hardware elements that can beelectrically coupled via a bus 1306 (or may otherwise be incommunication, as appropriate). The hardware elements may include aprocessing unit(s) 1310 which can include without limitation one or moregeneral-purpose processors, one or more special-purpose processors (suchas digital signal processing (DSP) chips, graphics accelerationprocessors, application specific integrated circuits (ASICs), and/or thelike), and/or other processing structure or means. As shown in FIG. 13,some implementations may have a separate DSP 1320, depending on desiredfunctionality. The mobile device 1305 also can include one or more inputdevices 1370, which can include without limitation a touch screen, atouch pad, microphone, button(s), dial(s), switch(es), and/or the like;and one or more output devices 1315, which can include withoutlimitation a display, light emitting diode (LED), speakers, and/or thelike.

The mobile device 1305 might also include a wireless communicationinterface 1330, which can include without limitation a modem, a networkcard, an infrared communication device, a wireless communication device,and/or a chipset (such as a Bluetooth™ device, an Institute ofElectrical and Electronics Engineers standard (IEEE) 302.11 device, anIEEE 302.15.4 device, a WiFi device, a WiMax device, cellularcommunication facilities, etc.), and/or the like. The wirelesscommunication interface 1330 may permit data to be exchanged with anetwork, wireless access points, other computer systems, and/or anyother electronic devices described herein. The communication can becarried out via one or more wireless communication antenna(s) 1332 thatsend and/or receive wireless signals 1334.

Depending on desired functionality, the wireless communication interface1330 can include separate transceivers to communicate with basetransceiver stations (e.g., base stations of a cellular network) accesspoint(s). These different data networks can include various networktypes. Additionally, a Wireless Wide Area Network (WWAN) may be a CodeDivision Multiple Access (CDMA) network, a Time Division Multiple Access(TDMA) network, a Frequency Division Multiple Access (FDMA) network, anOrthogonal Frequency Division Multiple Access (OFDMA) network, aSingle-Carrier Frequency Division Multiple Access (SC-FDMA) network, aWiMax (IEEE 802.16), and so on. A CDMA network may implement one or moreradio access technologies (RATs) such as cdma2000, Wideband-CDMA(W-CDMA), and so on. Cdma2000 includes IS-95, IS-2000, and/or IS-856standards. A TDMA network may implement Global System for MobileCommunications (GSM), Digital Advanced Mobile Phone System (D-AMPS), orsome other RAT. An OFDMA network may employ Long-Term Evolution (LTE),LTE Advanced, and so on. LTE, LTE Advanced, GSM, and W-CDMA aredescribed in documents from 3GPP. Cdma2000 is described in documentsfrom a consortium named “3rd Generation Partnership Project 2” (3GPP2).3GPP and 3GPP2 documents are publicly available. A Wireless Local AreaNetwork (WLAN) may also be an IEEE 802.11x network, and a WirelessPersonal Area Network (WPAN) may be a Bluetooth network, an IEEE802.15x, or some other type of network. The techniques described hereinmay also be used for any combination of WWAN, WLAN and/or WPAN.

The mobile device 1305 can further include sensor(s) 1340. Such sensorscan include, without limitation, one or more accelerometer(s),gyroscope(s), camera(s), magnetometer(s), altimeter(s), microphone(s),proximity sensor(s), light sensor(s), and the like. Additionally oralternatively, the sensor(s) 1340 may include one or more components asdescribed in FIG. 1. For example, the sensor(s) 1340 can include a pixelarray 505 and a scanning window array 515, and the scanning window array515 can be connected to a computer vision feature computation block 560,a look-up table 570, and a logic, memory, and microprocessor block 580,as described elsewhere in this disclosure. Logic, memory, andmicroprocessor block 580 can be understood to serve as one or morecomputing devices executing instructions to, for example, causedifferent windows of pixel values to be stored in the hardware scanningwindow array 515; or to execute instructions that cause control signalsto be provided to peripheral circuitry to control the transfer of pixelvalues into the hardware scanning window array 515. The microprocessorin block 580 of FIG. 5A can include a microprocessor dedicated to thesensor system shown in FIG. 5A, and this microprocessor may send eventsto the processing unit(s) 1310 of the mobile device 1305. It is alsounderstood that the sensor(s) 1340 may also include any of theperipheral circuitry 526 illustrated in FIG. 5B. Also, as described withreference to 5B, sensor(s) 1340 can also include cascade classifierhardware. Cascade classifier, which is illustrated with arrowsindicating communication with the CV computation hardware and hardwarescanning window array, can also serve as one or more computing devicesexecuting instructions to cause different windows of pixel values to bestored in the hardware scanning window array 515; or to executeinstructions that cause control signals to be provided to peripheralcircuitry to control the transfer of pixel values into the hardwarescanning window array 515.

Implementations of the mobile device may also include a StandardPositioning Service (SPS) receiver 1380 capable of receiving signals1384 from one or more SPS satellites using an SPS antenna 1382. Suchpositioning can be utilized to complement and/or incorporate thetechniques described herein. The SPS receiver 1380 can extract aposition of the mobile device, using conventional techniques, from SPSSVs of an SPS system, such as global navigation satellite system (GNSS)(e.g., Global Positioning System (GPS)), Galileo, Glonass, Compass,Quasi-Zenith Satellite System (QZSS) over Japan, Indian RegionalNavigational Satellite System (IRNSS) over India, Beidou over China,and/or the like. Moreover, the SPS receiver 1380 can be used variousaugmentation systems (e.g., an Satellite Based Augmentation System(SBAS)) that may be associated with or otherwise enabled for use withone or more global and/or regional navigation satellite systems. By wayof example but not limitation, an SBAS may include an augmentationsystem(s) that provides integrity information, differential corrections,etc., such as, e.g., Wide Area Augmentation System (WAAS), EuropeanGeostationary Navigation Overlay Service (EGNOS), Multi-functionalSatellite Augmentation System (MSAS), GPS Aided Geo Augmented Navigationor GPS and Geo Augmented Navigation system (GAGAN), and/or the like.Thus, as used herein an SPS may include any combination of one or moreglobal and/or regional navigation satellite systems and/or augmentationsystems, and SPS signals may include SPS, SPS-like, and/or other signalsassociated with such one or more SPS.

The mobile device 1305 may further include and/or be in communicationwith a memory 1360. The memory 1360 can include, without limitation,local and/or network accessible storage, a disk drive, a drive array, anoptical storage device, a solid-state storage device, such as a randomaccess memory (“RAM”), and/or a read-only memory (“ROM”), which can beprogrammable, flash-updateable, and/or the like. Such storage devicesmay be configured to implement any appropriate data stores, includingwithout limitation, various file systems, database structures, and/orthe like.

The memory 1360 of the mobile device 1305 also can comprise softwareelements (not shown), including an operating system, device drivers,executable libraries, and/or other code, such as one or more applicationprograms, which may comprise computer programs provided by variousimplementations, and/or may be designed to implement methods, and/orconfigure systems, provided by other implementations, as describedherein. In an aspect, then, such code and/or instructions can be used toconfigure and/or adapt a general purpose computer (or other device) toperform one or more operations in accordance with the described methods.

It will be apparent to those skilled in the art that substantialvariations may be made in accordance with specific requirements. Forexample, customized hardware might also be used, and/or particularelements might be implemented in hardware, software (including portablesoftware, such as applets, etc.), or both. Further, connection to othercomputing devices such as network input/output devices may be employed.

With reference to the appended figures, components that can includememory can include non-transitory machine-readable media. The term“machine-readable medium” and “computer-readable medium” as used herein,refer to any storage medium that participates in providing data thatcauses a machine to operate in a specific fashion. In implementationsprovided hereinabove, various machine-readable media might be involvedin providing instructions/code to processing units and/or otherdevice(s) for execution. Additionally or alternatively, themachine-readable media might be used to store and/or carry suchinstructions/code. In many implementations, a computer-readable mediumis a physical and/or tangible storage medium. Such a medium may takemany forms, including but not limited to, non-volatile media, volatilemedia, and transmission media. Common forms of computer-readable mediainclude, for example, magnetic and/or optical media, punch cards, papertape, any other physical medium with patterns of holes, a RAM, a PROM,EPROM, a FLASH-EPROM, any other memory chip or cartridge, a carrier waveas described hereinafter, or any other medium from which a computer canread instructions and/or code.

The methods, systems, and devices discussed herein are examples. Variousimplementations may omit, substitute, or add various procedures orcomponents as appropriate. For instance, features described with respectto certain implementations may be combined in various otherimplementations. Different aspects and elements of the implementationsmay be combined in a similar manner. The various components of thefigures provided herein can be embodied in hardware and/or software.Also, technology evolves and, thus, many of the elements are examplesthat do not limit the scope of the disclosure to those specificexamples.

It has proven convenient at times, principally for reasons of commonusage, to refer to such signals as bits, information, values, elements,symbols, characters, variables, terms, numbers, numerals, or the like.It should be understood, however, that all of these or similar terms areto be associated with appropriate physical quantities and are merelyconvenient labels. Unless specifically stated otherwise, as is apparentfrom the discussion above, it is appreciated that throughout thisSpecification discussions utilizing terms such as “processing,”“computing,” “calculating,” “determining,” “ascertaining,”“identifying,” “associating,” “measuring,” “performing,” or the likerefer to actions or processes of a specific apparatus, such as a specialpurpose computer or a similar special purpose electronic computingdevice. In the context of this Specification, therefore, a specialpurpose computer or a similar special purpose electronic computingdevice is capable of manipulating or transforming signals, typicallyrepresented as physical electronic, electrical, or magnetic quantitieswithin memories, registers, or other information storage devices,transmission devices, or display devices of the special purpose computeror similar special purpose electronic computing device.

Terms, “and” and “or” as used herein, may include a variety of meaningsthat also is expected to depend at least in part upon the context inwhich such terms are used. Typically, “or” if used to associate a list,such as A, B, or C, is intended to mean A, B, and C, here used in theinclusive sense, as well as A, B, or C, here used in the exclusivesense. In addition, the term “one or more” as used herein may be used todescribe any feature, structure, or characteristic in the singular ormay be used to describe some combination of features, structures, orcharacteristics. However, it should be noted that this is merely anillustrative example and claimed subject matter is not limited to thisexample. Furthermore, the term “at least one of” if used to associate alist, such as A, B, or C, can be interpreted to mean any combination ofA, B, and/or C, such as A, AB, AA, AAB, AABBCCC, etc.

Having described several implementations, various modifications,alternative constructions, and equivalents may be used without departingfrom the spirit of the disclosure. For example, the above elements maymerely be a component of a larger system, wherein other rules may takeprecedence over or otherwise modify the application of the invention.Also, a number of steps may be undertaken before, during, or after theabove elements are considered. Accordingly, the above description doesnot limit the scope of the disclosure.

It is understood that the specific order or hierarchy of steps in theprocesses disclosed is an illustration of exemplary approaches. Basedupon design preferences, it is understood that the specific order orhierarchy of steps in the processes may be rearranged. Further, somesteps may be combined or omitted. The accompanying method claims presentelements of the various steps in a sample order, and are not meant to belimited to the specific order or hierarchy presented.

The previous description is provided to enable any person skilled in theart to practice the various aspects described herein. Variousmodifications to these aspects will be readily apparent to those skilledin the art, and the generic principles defined herein may be applied toother aspects. Moreover, nothing disclosed herein is intended to bededicated to the public.

What is claimed is:
 1. A low-power vision sensor, comprising: an imagesensor array capable of capturing an image, the image sensor arrayhaving a plurality of rows and a plurality of columns; one or more linebuffers for transferring image data from one or more rows of theplurality of rows of the image sensor array; a hardware scanning windowarray for storing data based on a sample window of the image, the datato be used in a computer vision computation, the hardware scanningwindow array having a number of columns fewer than a number of columnsof the one or more line buffers; and computer vision feature computationhardware configured to compute a computer vision feature based on thedata stored in the hardware scanning window array.
 2. The low-powervision sensor of claim 1, further comprising a frame buffer for storingdata to be transferred to the hardware scanning window array.
 3. Thelow-power vision sensor of claim 2, wherein the frame buffer is at leastone of an image frame buffer or an integral image frame buffer.
 4. Thelow-power vision sensor of claim 1, further comprising integrationhardware capable of computing an integral image based on the image datatransferred by the one or more line buffers.
 5. The low-power visionsensor of claim 4, wherein the integration hardware comprisestwo-dimension (2-D) integration hardware.
 6. The low-power vision sensorof claim 4, wherein the integration hardware is coupled to the framebuffer.
 7. The low-power vision sensor of claim 4, further comprising ananalog-to-digital converter (ADC) coupled to the one or more linebuffers and the integration hardware.
 8. The low-power vision sensor ofclaim 1, wherein the computer vision feature computation hardware isconfigured to compute a local binary patterns (LBP) feature.
 9. Thelow-power vision sensor of claim 8, wherein the LBP feature is amulti-block LBP feature.
 10. The low-power vision sensor of claim 1,further comprising a hardware classifier configured to detect thepresence of a reference object within the sample window stored in thehardware scanning window array based on computer vision featurescomputed by the computer vision computation hardware.
 11. The low-powervision sensor of claim 1, wherein no image signal processing circuitryis disposed between the image sensor array and the hardware scanningwindow array.
 12. A method for detecting an object in a low-power visionsensor, comprising: capturing, via an image sensor array, an image, theimage sensor array having a plurality of rows and a plurality ofcolumns; transferring, via one or more line buffers, image data from oneor more rows of the plurality of rows of the image sensor array;storing, via a hardware scanning window array, data based on a samplewindow of the image, the data to be used in a computer visioncomputation, the hardware scanning window array having a number ofcolumns fewer than a number of columns of the one or more line buffers;and computing, via computer vision feature computation hardware, acomputer vision feature based on the data stored in the hardwarescanning window array.
 13. The method of claim 12, further comprisingtransferring, via a frame buffer, data to the hardware scanning windowarray.
 14. The method of claim 13, wherein the frame buffer is at leastone of an image frame buffer or an integral image frame buffer.
 15. Themethod of claim 12, further comprising computing, via integrationhardware, an integral image based on the image data transferred by theone or more line buffers.
 16. The method of claim 12, further comprisingcomputing, via the computer vision feature computation hardware, a localbinary patterns (LBP) feature.
 17. The method of claim 16, whereincomputing the LBP feature comprises computing a multi-block local binarypatterns LBP feature.
 18. The method of claim 12, further comprisingdetecting, via a hardware classifier, a reference object within thesample window stored in the hardware scanning window array based oncomputer vision features computed by the computer vision computationhardware.
 19. One or more non-transitory computer-readable media storingcomputer-executable instructions for detecting an object in a low-powervision sensor that, when executed, cause one or more computing devicesto: capture, via an image sensor array, an image, the image sensor arrayhaving a plurality of rows and a plurality of columns; transfer, via oneor more line buffers, image data from one or more rows of the pluralityof rows of the image sensor array; store, via a hardware scanning windowarray, data based on a sample window of the image, the data to be usedin a computer vision computation, the hardware scanning window arrayhaving a number of columns fewer than a number of columns of the one ormore line buffers; and compute, via computer vision feature computationhardware, a computer vision feature based on the data stored in thehardware scanning window array.
 20. The non-transitory computer-readablemedia of claim 19, wherein the computer-executable instructions, whenexecuted, further cause the one or more computing devices to transfer,via frame buffer, data to the hardware scanning window array.
 21. Thenon-transitory computer-readable media of claim 20, wherein the framebuffer is at least one of an image frame buffer or an integral imageframe buffer.
 22. The non-transitory computer-readable media of claim19, wherein the computer-executable instructions, when executed, furthercause the one or more computing devices to compute, via integrationhardware, an integral image based on the image data transferred by theone or more line buffers.
 23. The non-transitory computer-readable mediaof claim 22, wherein the integration hardware is coupled to the framebuffer.
 24. The non-transitory computer-readable media of claim 19,wherein the computer-executable instructions, when executed, furthercause the one or more computing devices to compute, via the computervision feature computation hardware, a local binary patterns (LBP)feature, wherein computing the LBP feature comprises computing amulti-block LBP feature.
 25. The non-transitory computer-readable mediaof claim 19, wherein the computer-executable instructions, whenexecuted, further cause the one or more computing devices to detect, viaa hardware classifier, a reference object within the sample windowstored in the hardware scanning window array based on computer visionfeatures computed by the computer vision computation hardware.
 26. Anapparatus for detecting an object in a low-power vision sensor,comprising: hardware means for capturing, via an image sensor array, animage, the image sensor array having a plurality of rows and a pluralityof columns; hardware means for transferring, via one or more linebuffers, image data from one or more rows of the plurality of rows ofthe image sensor array; hardware means for storing, via a hardwarescanning window array, data based on a sample window of the image, thedata to be used in a computer vision computation, the hardware scanningwindow array having a number of columns fewer than a number of columnsof the one or more line buffers; and hardware means for computing, viacomputer vision feature computation hardware, a computer vision featurebased on the data stored in the hardware scanning window array.
 27. Theapparatus of claim 26, further comprising hardware means fortransferring, via a frame buffer, data to the hardware scanning windowarray, wherein the frame buffer is at least one of an image frame bufferor an integral image frame buffer.
 28. The apparatus of claim 26,further comprising hardware means for computing, via integrationhardware coupled to the frame buffer, an integral image based on theimage data transferred by the one or more line buffers.
 29. Theapparatus of claim 26, further comprising hardware means for computing,via the computer vision feature computation hardware, a local binarypatterns (LBP) feature, wherein the hardware means for computing the LBPfeature comprises computing multi-block LBP feature.
 30. The apparatusof claim 26, further comprising hardware means for detecting, via ahardware classifier, a reference object within the sample window storedin the hardware scanning window array based on computer vision featurescomputed by the computer vision computation hardware.